/*
 * Copyright 2025 The Authors
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 *@file    : map_builder.h
 *@brief   : map build struct   
 *@authors : zhanglei, zhanglei_723@126.com
 *@version : v1.0
 *@data    : 2025/8/24
 *
 */
#ifndef MAP_BUILDER_H_
#define MAP_BUILDER_H_

#include <stdint.h>

// input 
struct ImuData {
  double timestamp;
  double ax;
  double ay;
  double az;
  double gx;
  double gy;
  double gz;
};

struct WheelData {
  double timestamp;
  double x; 
  double y;
  double t; // theta
  int shift_pos;
  double vehicle_speed;
  int left_front_wheel_pulse;
  int right_front_wheel_pulse;
  int left_rear_wheel_pulse;  
  int right_rear_wheel_pulse;  
  double turn_radius;
  double steering_angle;
};

#endif  // MAP_BUILDER_H_
